motion-master-client 0.0.57 → 0.0.59

package/src/lib/parameter.d.ts

@@ -0,0 +1,112 @@
+import { MotionMasterMessage, ParameterTypeValueKey, ParameterValueType } from "./types";
+/**
+ * Represents a generic parameter with required properties: index, subindex, name, value, typeValueKey.
+ */
+export interface Parameter extends MotionMasterMessage.Status.DeviceParameterInfo.IParameter, MotionMasterMessage.Status.DeviceParameterValues.IParameterValue {
+    index: number;
+    subindex: number;
+    name: string;
+    value: ParameterValueType;
+    typeValueKey: ParameterTypeValueKey;
+    options?: {
+        [key: string]: number;
+    };
+}
+export type ParameterIndexSubindex = Pick<Parameter, 'index' | 'subindex'>;
+/**
+ * Make parameter id by providing a tuple of index and subindex.
+ *
+ * @param tuple - an array of index and subindex
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export declare function makeParameterId(tuple: [(number | null | undefined), (number | null | undefined)]): string;
+/**
+ * Make parameter id by providing an object which has index and subindex properties.
+ *
+ * @param parameter - an object with optional index and subindex properties
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export declare function makeParameterId(parameter: {
+    index?: (number | null);
+    subindex?: (number | null);
+}): string;
+/**
+ * Make parameter id by providing index and subindex.
+ *
+ * @param index - from 0x0000 to 0xFFFF for objects defined in ESI and >0xFFFF for custom object
+ * @param subindex - defaults to 0 if not provided
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export declare function makeParameterId(index?: (number | null), subindex?: (number | null)): string;
+/**
+ * Make parameter id by providing different arguments.
+ *
+ * The purpose of this declaration is to expose the signature of the implementation for {@link makeDeviceParameterId} function.
+ *
+ * @param a - number or an object with index and subindex or tuple of index and subindex
+ * @param b - optional subindex, defaults to 0 if not provided
+ * @throws {Error} if index or subindex are less than 0
+ * @returns combined index and subindex in uppercase hexadecimal format, e.g. "0x60FE:02"
+ */
+export declare function makeParameterId(a?: (number | null) | {
+    index?: (number | null);
+    subindex?: (number | null);
+} | [(number | null | undefined), (number | null | undefined)], b?: (number | null)): string;
+/**
+ * Example of parameter id is "0x2110:1A" where:
+ * - 0x2110 is object index in hexadecimal format
+ * - 1A is subindex in hexadecimal format
+ */
+export declare const parameterIdRegExp: RegExp;
+/**
+ * Split device parameter id into parts.
+ *
+ * @param id - parameter id like "0x2110:1A"
+ * @returns tuple of index and subindex
+ */
+export declare function splitParameterId(id: string): [number, number];
+/**
+ * Check if the provided string matches the parameter ID.
+ */
+export declare function isParameterId(id: string): boolean;
+/**
+ * Parameter comparison function.
+ *
+ * Typically provided to sorting functions. Compares parameters by index and subindex.
+ */
+export declare function parametersCompareFn(a: Pick<Parameter, 'index' | 'subindex'>, b: Pick<Parameter, 'index' | 'subindex'>): number;
+/**
+ * Creates an array of parameters not included in the other given array. Compares by index and subindex.
+ */
+export declare function differenceParameters<T extends Pick<Parameter, 'index' | 'subindex'>>(p1: T[], p2: T[]): T[];
+/**
+ * Creates an array of unique parameters that are included in both given arrays. Compares by index and subindex.
+ */
+export declare function intersectionParameters<T extends Pick<Parameter, 'index' | 'subindex'>>(p1: T[], p2: T[]): T[];
+/**
+ * Creates an array of unique parameters that are included in both given arrays, but only if the values of parameters differ.
+ */
+export declare function intersectionParametersWithDifferentValues<T extends Pick<Parameter, 'index' | 'subindex' | 'value'>>(p1: T[], p2: T[], roundFloats?: boolean): T[];
+/**
+ * Represents the result of comparing parameter sets.
+ *
+ * The Differences tuple contains an array of parameters that exist in one array but not in the other array.
+ * The Intersections tuple contains an array of parameters that exist in both sets.
+ * The Comparisons array contains parameters from the first set that also exist in the other set, with the additional valueOther from the other set of the matching parameter.
+ */
+export interface ParametersComparison<T extends Pick<Parameter, 'index' | 'subindex' | 'value'>, V = T & {
+    valueOther: ParameterValueType;
+}> {
+    differences: [T[], T[]];
+    intersections: [T[], T[]];
+    comparisons: V[];
+}
+/**
+ * Compare parameters.
+ *
+ * Compare parameters by creating the parameters comparison result, which includes the differences, intersections, and comparisons {@link ParametersComparison}.
+ */
+export declare function compareParameters<T extends Pick<Parameter, 'index' | 'subindex' | 'value'>>(p1: T[], p2: T[], roundFloats?: boolean): ParametersComparison<T>;

package/src/lib/parameter.js

@@ -0,0 +1,150 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.compareParameters = exports.intersectionParametersWithDifferentValues = exports.intersectionParameters = exports.differenceParameters = exports.parametersCompareFn = exports.isParameterId = exports.splitParameterId = exports.parameterIdRegExp = exports.makeParameterId = void 0;
+const lodash_1 = require("lodash");
+function makeParameterId(a, b) {
+    let index = 0;
+    let subindex = 0;
+    if (Array.isArray(a)) {
+        if (a[0]) {
+            index = a[0];
+        }
+        if (a[1]) {
+            subindex = a[1];
+        }
+    }
+    else if (typeof a === 'object') {
+        if (a === null || a === void 0 ? void 0 : a.index) {
+            index = a.index;
+        }
+        if (a === null || a === void 0 ? void 0 : a.subindex) {
+            subindex = a.subindex;
+        }
+    }
+    else {
+        if (typeof a === 'number') {
+            index = a;
+        }
+        if (typeof b === 'number') {
+            subindex = b;
+        }
+    }
+    if (index < 0) {
+        throw new Error(`The provided index to makeParameterId must be greater than 0: ${index}`);
+    }
+    if (subindex < 0) {
+        throw new Error(`The provided subindex to makeParameterId must be greater than 0: ${subindex}`);
+    }
+    const indexMaxLength = index > 0xFFFF ? 8 : 4;
+    const x = index.toString(16).toUpperCase().padStart(indexMaxLength, '0');
+    const y = subindex.toString(16).toUpperCase().padStart(2, '0');
+    return `0x${x}:${y}`;
+}
+exports.makeParameterId = makeParameterId;
+/**
+ * Example of parameter id is "0x2110:1A" where:
+ * - 0x2110 is object index in hexadecimal format
+ * - 1A is subindex in hexadecimal format
+ */
+exports.parameterIdRegExp = /^0x([0-9a-fA-F]{4,}):([0-9a-fA-F]{2})$/;
+/**
+ * Split device parameter id into parts.
+ *
+ * @param id - parameter id like "0x2110:1A"
+ * @returns tuple of index and subindex
+ */
+function splitParameterId(id) {
+    const match = id.match(exports.parameterIdRegExp);
+    if (!match) {
+        throw new Error(`Parameter id "${id}" doesn't match the regular expression: ${exports.parameterIdRegExp}`);
+    }
+    return [
+        parseInt(match[1], 16),
+        parseInt(match[2], 16), // subindex
+    ];
+}
+exports.splitParameterId = splitParameterId;
+/**
+ * Check if the provided string matches the parameter ID.
+ */
+function isParameterId(id) {
+    return exports.parameterIdRegExp.test(id);
+}
+exports.isParameterId = isParameterId;
+/**
+ * Parameter comparison function.
+ *
+ * Typically provided to sorting functions. Compares parameters by index and subindex.
+ */
+function parametersCompareFn(a, b) {
+    if (a.index > b.index) {
+        return 1;
+    }
+    else if (a.index < b.index) {
+        return -1;
+    }
+    else {
+        if (a.subindex > b.subindex) {
+            return 1;
+        }
+        else if (a.subindex < b.subindex) {
+            return -1;
+        }
+        else {
+            return 0;
+        }
+    }
+}
+exports.parametersCompareFn = parametersCompareFn;
+/**
+ * Creates an array of parameters not included in the other given array. Compares by index and subindex.
+ */
+function differenceParameters(p1, p2) {
+    return (0, lodash_1.differenceWith)(p1, p2, (a, b) => a.index === b.index && a.subindex === b.subindex);
+}
+exports.differenceParameters = differenceParameters;
+/**
+ * Creates an array of unique parameters that are included in both given arrays. Compares by index and subindex.
+ */
+function intersectionParameters(p1, p2) {
+    return (0, lodash_1.intersectionWith)(p1, p2, (a, b) => a.index === b.index && a.subindex === b.subindex);
+}
+exports.intersectionParameters = intersectionParameters;
+/**
+ * Creates an array of unique parameters that are included in both given arrays, but only if the values of parameters differ.
+ */
+function intersectionParametersWithDifferentValues(p1, p2, roundFloats = false) {
+    return (0, lodash_1.intersectionWith)(p1, p2, (a, b) => {
+        if (a.index === b.index && a.subindex === b.subindex) {
+            // values that are very close but have a different number of decimal places are treated as not equal
+            if (roundFloats && typeof a.value === 'number' && typeof b.value === 'number') {
+                const v1 = (0, lodash_1.round)(a.value, 7);
+                const v2 = (0, lodash_1.round)(b.value, 7);
+                return v1 !== v2;
+            }
+            else if (Array.isArray(a.value) && Array.isArray(b.value)) {
+                return JSON.stringify(a.value) !== JSON.stringify(b.value);
+            }
+            else {
+                return a.value !== b.value;
+            }
+        }
+        return false;
+    });
+}
+exports.intersectionParametersWithDifferentValues = intersectionParametersWithDifferentValues;
+/**
+ * Compare parameters.
+ *
+ * Compare parameters by creating the parameters comparison result, which includes the differences, intersections, and comparisons {@link ParametersComparison}.
+ */
+function compareParameters(p1, p2, roundFloats = false) {
+    const d1 = differenceParameters(p1, p2);
+    const d2 = differenceParameters(p2, p1);
+    const i1 = intersectionParametersWithDifferentValues(p1, p2, roundFloats);
+    const i2 = intersectionParametersWithDifferentValues(p2, p1, roundFloats);
+    const comparisons = i1.map((p, index) => (Object.assign(Object.assign({}, p), { valueOther: i2[index].value })));
+    return { differences: [d1, d2], intersections: [i1, i2], comparisons };
+}
+exports.compareParameters = compareParameters;
+//# sourceMappingURL=parameter.js.map

package/src/lib/parameter.js.map

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package/src/lib/product-id-range.d.ts

@@ -0,0 +1,7 @@
+export declare const productIdRange: {
+    CIRCULO_SAFE_MOTION: number[];
+    INTEGRO: number[];
+    NODE: number[];
+    NODE_SAFETY: number[];
+    INTERNAL: number[];
+};

package/src/lib/product-id-range.js

@@ -0,0 +1,12 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.productIdRange = void 0;
+// https://docs.google.com/spreadsheets/d/1XJX1eqGau1X3sse10fuF-tVVgosbxCo-3ioUUG2CDYQ
+exports.productIdRange = {
+    'CIRCULO_SAFE_MOTION': [8600, 8699],
+    'INTEGRO': [9000, 9499],
+    'NODE': [9500, 9599],
+    'NODE_SAFETY': [9600, 9998],
+    'INTERNAL': [9999, 9999],
+};
+//# sourceMappingURL=product-id-range.js.map

package/src/lib/product-id-range.js.map

@@ -0,0 +1 @@
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package/src/lib/request-status-resolver.d.ts

@@ -0,0 +1,4 @@
+import { RequestStatus, StatusKey } from "./types";
+export declare const requestStatusResolver: {
+    [key in StatusKey]: <T>(status: T) => RequestStatus;
+};

package/src/lib/request-status-resolver.js

@@ -0,0 +1,345 @@
+"use strict";
+// eslint-disable-next-line @typescript-eslint/ban-ts-comment
+// @ts-nocheck
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.requestStatusResolver = void 0;
+const types_1 = require("./types");
+exports.requestStatusResolver = {
+    systemPong: () => 'succeeded',
+    systemVersion: (status) => {
+        return status.version ? 'succeeded' : 'failed';
+    },
+    systemEvent: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    deviceInfo: (status) => {
+        return status.devices ? 'succeeded' : 'failed';
+    },
+    deviceParameterInfo: (status) => {
+        return status.parameters ? 'succeeded' : 'failed';
+    },
+    deviceParameterValues: (status) => {
+        if (status.progress) {
+            if (status.progress.percentage === 100) {
+                return 'succeeded';
+            }
+            else {
+                return 'running';
+            }
+        }
+        if (status.parameterValues) {
+            const allSucceeded = status.parameterValues.every((value) => value.success);
+            if (allSucceeded) {
+                return 'succeeded';
+            }
+        }
+        return 'failed';
+    },
+    multiDeviceParameterValues: (status) => {
+        if (status.collection) {
+            const items = status.collection.flat();
+            const allSucceeded = items.every((item) => { var _a; return (_a = item.parameterValues) === null || _a === void 0 ? void 0 : _a.every(value => value.success); });
+            if (allSucceeded) {
+                return 'succeeded';
+            }
+            if (items.every(item => item.progress === 100)) {
+                return 'succeeded';
+            }
+            else {
+                return 'running';
+            }
+            ;
+        }
+        return 'failed';
+    },
+    deviceFileList: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    deviceFile: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    deviceEvent: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    deviceFirmwareInstallation: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.DeviceFirmwareInstallation.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.DeviceFirmwareInstallation.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    deviceLog: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    deviceFaultReset: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    coggingTorqueRecording: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.CoggingTorqueRecording.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.CoggingTorqueRecording.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    coggingTorqueData: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    offsetDetection: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.OffsetDetection.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.OffsetDetection.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    plantIdentification: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.PlantIdentification.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.PlantIdentification.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    autoTuning: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.AutoTuning.Success.Code.POSITION_DONE ||
+                status.success.code === types_1.MotionMasterMessage.Status.AutoTuning.Success.Code.VELOCITY_DONE) {
+                return 'succeeded';
+            }
+            if (status.success === types_1.MotionMasterMessage.Status.AutoTuning.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    motionController: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    signalGenerator: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.SignalGenerator.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.SignalGenerator.Success.Code.PARAMETERS_SET) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.SignalGenerator.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    monitoringParameterValues: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    deviceStop: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    ethercatNetworkState: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    narrowAngleCalibration: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.NarrowAngleCalibration.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.NarrowAngleCalibration.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    systemIdentification: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.SystemIdentification.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.SystemIdentification.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    circuloEncoderMagnetDistance: (status) => {
+        if (typeof status.distance === 'number' || typeof status.position === 'number') {
+            return 'succeeded';
+        }
+        return 'failed';
+    },
+    circuloEncoderNarrowAngleCalibrationProcedure: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.Success.Code.STOPPED) {
+                return 'failed';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success === types_1.MotionMasterMessage.Status.CirculoEncoderNarrowAngleCalibrationProcedure.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    deviceCia402State: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        return 'succeeded';
+    },
+    systemLog: (status) => {
+        if (status.content) {
+            return 'succeeded';
+        }
+        return 'failed';
+    },
+    deviceSiiRestore: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.DeviceSiiRestore.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.DeviceSiiRestore.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    openLoopFieldControl: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.OpenLoopFieldControl.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.OpenLoopFieldControl.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    fullAutoTuning: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.FullAutoTuning.Success.Code.POSITION_STOPPED ||
+                status.success.code === types_1.MotionMasterMessage.Status.FullAutoTuning.Success.Code.VELOCITY_STOPPED) {
+                return 'failed';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.FullAutoTuning.Success.Code.POSITION_DONE ||
+                status.success.code === types_1.MotionMasterMessage.Status.FullAutoTuning.Success.Code.VELOCITY_DONE) {
+                return 'succeeded';
+            }
+            if (status.success === types_1.MotionMasterMessage.Status.FullAutoTuning.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    circuloEncoderConfiguration: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.CirculoEncoderConfiguration.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.CirculoEncoderConfiguration.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+    osCommand: (status) => {
+        if (status.error) {
+            return 'failed';
+        }
+        if (status.success) {
+            if (status.success.code === types_1.MotionMasterMessage.Status.OsCommand.Success.Code.DONE) {
+                return 'succeeded';
+            }
+            if (status.success.code === types_1.MotionMasterMessage.Status.OsCommand.Success.Code.UNSPECIFIED) {
+                return 'succeeded';
+            }
+        }
+        return 'running';
+    },
+};
+//# sourceMappingURL=request-status-resolver.js.map

package/src/lib/request-status-resolver.js.map

@@ -0,0 +1 @@
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package/src/lib/system-log-line.d.ts

@@ -0,0 +1,9 @@
+export interface SystemLogLine {
+    line: string;
+    date: Date;
+    uptime: string;
+    id: string;
+    file: string;
+    level: string;
+    message: string;
+}